/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskSetPriority
* Description : This function sets task's priority by task handler.
*
*END**************************************************************************/
osa_status_t OSA_TaskSetPriority(task_handler_t handler, uint16_t priority)
{
if (OS_ERR_NONE == OSTaskChangePrio(handler->OSTCBPrio, PRIORITY_OSA_TO_RTOS(priority)))
{
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskCreate
* Description : This function is used to create a task and make it ready.
* Return kStatus_OSA_Success if register successfully, otherwise return
* kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_TaskCreate(task_t task,
uint8_t *name,
uint16_t stackSize,
task_stack_t *stackMem,
uint16_t priority,
task_param_t param,
bool usesFloat,
task_handler_t *handler)
{
INT8U err;
#if OS_CRITICAL_METHOD == 3U
OS_CPU_SR cpu_sr = 0U;
#endif
uint32_t stackSizeLocal = stackSize/sizeof(task_stack_t);
/*
* To provide unified task piority for upper layer, OSA layer makes conversion.
* uC/OS-II's highest 4 priorities are reserved for system, so add 4 here.
*/
INT8U localPriority = PRIORITY_OSA_TO_RTOS(priority);
err = OSTaskCreateExt(task, /* Task pointer*/
param, /* Task input parameter*/
&stackMem[stackSizeLocal - 1], /* Pointer to top of stack*/
localPriority, /* Task priority*/
localPriority, /* Task id. should be the same as priority*/
stackMem, /* Pointer to the bottom of the stack*/
stackSizeLocal, /* Size of the stack*/
(void*)0, /* TCB extension not supported by this abstraction*/
usesFloat ? OS_TASK_OPT_SAVE_FP : OS_TASK_OPT_NONE
);
if (OS_ERR_NONE != err)
{
return kStatus_OSA_Error;
}
#if OS_TASK_NAME_EN > 0u
OSTaskNameSet(localPriority, name, &err);
if (OS_ERR_NONE != err)
{
return kStatus_OSA_Error;
}
#else
name = name;
#endif
OS_ENTER_CRITICAL();
*handler = OSTCBPrioTbl[localPriority];
OS_EXIT_CRITICAL();
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskSetPriority
* Description : This function sets task's priority by task handler.
*
*END**************************************************************************/
osa_status_t OSA_TaskSetPriority(task_handler_t handler, uint16_t priority)
{
OS_ERR err;
OSTaskChangePrio(handler, PRIORITY_OSA_TO_RTOS(priority), &err);
if (OS_ERR_NONE == err)
{
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskCreate
* Description : This function is used to create a task and make it ready.
* Param[in] : threadDef - Definition of the thread.
* task_param - Parameter to pass to the new thread.
* Return Thread handle of the new thread, or NULL if failed.
*
*END**************************************************************************/
osaTaskId_t OSA_TaskCreate(osaThreadDef_t *thread_def,osaTaskParam_t task_param)
{
osaTaskId_t taskId = NULL;
task_handler_t task_handler;
if (xTaskCreate(
(task_t)thread_def->pthread, /* pointer to the task */
(char const*)thread_def->tname, /* task name for kernel awareness debugging */
thread_def->stacksize/sizeof(portSTACK_TYPE), /* task stack size */
(task_param_t)task_param, /* optional task startup argument */
PRIORITY_OSA_TO_RTOS(thread_def->tpriority), /* initial priority */
&task_handler /* optional task handle to create */
) == pdPASS)
{
taskId = (osaTaskId_t)task_handler;
}
return taskId;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskCreate
* Description : This function is used to create a task and make it ready.
* Return kStatus_OSA_Success if register successfully, otherwise return
* kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_TaskCreate(task_t task,
uint8_t *name,
uint16_t stackSize,
task_stack_t *stackMem,
uint16_t priority,
task_param_t param,
bool usesFloat,
task_handler_t *handler)
{
if (xTaskCreate(
task, /* pointer to the task */
(char const*)name, /* task name for kernel awareness debugging */
stackSize/sizeof(portSTACK_TYPE), /* task stack size */
param, /* optional task startup argument */
PRIORITY_OSA_TO_RTOS(priority), /* initial priority */
handler /* optional task handle to create */
) != pdPASS)
{
return kStatus_OSA_Error; /* error! probably out of memory */
}
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskCreate
* Description : This function is used to create a task and make it ready.
* Return kStatus_OSA_Success if register successfully, otherwise return
* kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_TaskCreate(task_t task,
uint8_t *name,
uint16_t stackSize,
task_stack_t *stackMem,
uint16_t priority,
task_param_t param,
bool usesFloat,
task_handler_t *handler)
{
OS_ERR err;
uint32_t stackSizeLocal = stackSize/sizeof(task_stack_t);
OS_PRIO localPriority = PRIORITY_OSA_TO_RTOS(priority);
OSTaskCreate(*handler, /* Task handler. */
(CPU_CHAR*)name, /* Task name. */
task, /* Task pointer. */
param, /* Task parameter. */
localPriority, /* Task priority. */
stackMem, /* Stack's base. */
0, /* Stack limit. */
stackSizeLocal, /* Stack size. */
0, /* Number of messages can be sent to the task. */
0, /* Default time_quanta. */
0, /* TCB extension, not used. */
usesFloat ? OS_OPT_TASK_SAVE_FP : 0,
&err
);
if (OS_ERR_NONE == err)
{
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskSetPriority
* Description : This function sets task's priority by task handler.
*
*END**************************************************************************/
osa_status_t OSA_TaskSetPriority(task_handler_t handler, uint16_t priority)
{
vTaskPrioritySet(handler, PRIORITY_OSA_TO_RTOS(priority));
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_TaskSetPriority
* Description : This function sets task's priority by task handler.
*
*END**************************************************************************/
osaStatus_t OSA_TaskSetPriority(osaTaskId_t taskId, osaTaskPriority_t taskPriority)
{
vTaskPrioritySet((task_handler_t)taskId, PRIORITY_OSA_TO_RTOS(taskPriority));
return osaStatus_Success;
}
extern uint8_t mqx_interrupt_stack[];
#endif
#define TASK_TEMPLATE_LIST_END {0, 0, 0, 0, 0, 0, 0}
/* MQX task template list */
const TASK_TEMPLATE_STRUCT MQX_template_list[] =
{
/* Task: MainTask */
{
/* Task number */ MAINTASK_TASK,
/* Entry point */ (TASK_FPTR)main_task,
/* Stack size */ MAINTASK_TASK_STACK_SIZE,
/* Task priority */ (PRIORITY_OSA_TO_RTOS(MAINTASK_TASK_PRIORITY)),
/* Task name */ MAINTASK_TASK_NAME,
/* Task attributes */ (MQX_AUTO_START_TASK),
/* Task parameter */ (uint32_t)(NULL),
/* Task time slice */ (uint32_t)(0U)
},
/* Task: ddScheduler */
{
/* Task number */ DDSCHEDULER_TASK,
/* Entry point */ (TASK_FPTR)runScheduler,
/* Stack size */ DDSCHEDULER_TASK_STACK_SIZE,
/* Task priority */ (PRIORITY_OSA_TO_RTOS(DDSCHEDULER_TASK_PRIORITY)),
/* Task name */ DDSCHEDULER_TASK_NAME,
/* Task attributes */ (0),
/* Task parameter */ (uint32_t)(NULL),
/* Task time slice */ (uint32_t)(0U)
